Automated clinical laboratory

ABSTRACT

An automated centrifuge system having a conveyor for test tubes to be loaded thereon at a first transfer station, the test tubes are removed from the conveyor and placed into trunnion cups on a trunnion carrier. Program means are coupled to the trunnion carrier to first slowly rotate the trunnion carrier as the test tubes are loaded thereon, second, rapidly rotate the trunnion carrier to centrifuge specimens therein and third, slowly rotate the test tubes so that the test tube can be unloaded. The test tubes are then removed from the trunnion carrier and, second conveyor carries the test tubes away from the trunnion carrier.

ilnited States Patent N atelson [451 Jan. 18, 1972 [73] Assignee:

[54] AUTOMATED CLINICAL LABORATORY [72] inventor: Samuel Natelson,Chicago, ill.

221 Filed: Nov. 7, 1969 21] Appl.No.: 874,824

Related U.S. Application Data [63] Continuation-impart of Ser. No.845,992, July 30, p

[5 6] Reterences Cited UNITED STATES PATENTS 3,081,158 3/1963 Winter..23/2s3 3,532,469 10/1970 Vicario ..23/259 X 3,151,073 9/1964 Anthon..23 3/4 3,379,370 4/1968 Anderson ..233/26 3,475,130 10/1969 Baruch..23/259 X Primary Examiner-Jordan Franklin Assistant Examiner-George H.Krizmanich Anamey-George B. Oujevolk [57] ABSTRACT An automatedcentrifuge system having a conveyor for test tubes to be loaded thereonat a first transfer station, the test tubes are removed from theconveyor and placed into trunnion cups on a trunnion carrier. Programmeans are coupled to the trunnion carrier to first slowly rotate thetrunnion carrier as the test tubes are loaded thereon, second, rapidlyrotate the trunnion carrier to centrifuge specimens therein and third,slowly rotate the test tubes so that the test tube can be unloaded. Thetest tubes are then removed from the trunnion carrier and, secondconveyor carries the test tubes away from the trunnion carrier.

2 Claims, 10 Drawing Figures PATENTEnJmslsvz 3, 35,394

SAMUE L NATELSON I N VE NTOR.

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SAMUEL NATELSON INVENTOR.

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ATTORNEY PATENTEU JA 8 m2 sum a nr 7 FIG. 8.

SAMUEL NATE LSON I NVE NTOR.

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ATTORNEY AUTOMATED CLINICAL LABORATORY BACKGROUND OF THE INVENTION Thisapplication is a continuationin-part of U.S. Pat. application Ser. No.845,992, filed July 30, 1969.

The present invention relates to an automated clinical laboratory andmore particularly to an automated clinical laboratory system whereinsamples can be rapidly and effectively processed, notwithstanding thefact that the workload of samples processed varies considerably overworkingperiods.

Numerous attempts have been made to design a laboratory where blood orurine, or some other biological fluid can be processed automatically. Nocomplete system has been developed. For example, for many chemicaldeterminations a sample of serum needs to be prepared from the blood.The blood is then centrifuged and the serum sampled. The process ofplacing large numbers of tubes in a centrifuge waiting for thecentrifuge to accelerate, operating at high speeds and then coming torest, usually takes approximately -30 minutes. To this must be added thetime required to load the centrifuge and unload it. However, one stepcannot be carried out..That

step is the automatic centrifuging of the sample in a continuous manner.The problem is to centrifuge the sample and have it move out of thecentrifugal field. In the previous application of which this is acontinuation-in-part, a system was shown for performing this process.This system is flexible and can handle from one to a multiplicity ofspecimens sequentially.

Where a large number of specimens come down simultaneously, as thebloods which arrive in the morning in a laboratory, it is advantageousto present these specimens in bulk, as in a rack, and have themcentrifuged and returned to the rack. This would relieve the operatorfrom the tedium of loadinga centrifuge in sequence, adjusting thecentrifuge, and then. unloading the specimens in the same sequence. Weresuch. a system available, the technician could concern himself withother duties while the tubes are being processed. This applicationpresents such a system which is practical for the purpose. In addition,the automatic centrifuge proposed may also be used as an integral partof a completely automated system of analysis. In this case thecentrifugeis loaded and unloaded automatically and the bloods proceed down abeltline for further processing as described in the previous applicationof which this is a continuation-in-part.

Generally speaking, the present invention contemplates an automatedcentrifuge system having a conveyor for test tubes to be loaded thereon;a first transfer station to remove thetest tubes from the conveyor andplace them into trunnion cups on a trunnion carrier; a trunnion carrierincluding trunnion cups, to receive the test tubes; program meanscoupled to the trunnion carrier to first slowly rotate the trunnioncarrier as the test tubes are loaded, second rapidly rotate the trunnioncarrier to centrifuge specimens therein and third slowly rotate the testtubes so that the test tube can be unloaded; a second transfer stationto remove the test tubes from the trunnion carrier; and, second conveyormeans to convey the test tubes away from the trunnion carrier.

The invention as well as the objects and advantages thereof will becomemore apparent from the following detailed description when takentogether with the accompanying drawing, in which:

FIG. 1 is a block diagram of the arrangement contemplated herein;

FIG. 2 shows a top perspective view of a trunnion carrier useful in thepresent invention;

FIG. 3 illustrates a trunnion cup used with the trunnion carrier shownin FIG. 2;

FIG. 4 is a perspective explanation of a transfer station of anapparatus contemplated herein;

FIG. 5 is a schematic and block electrical circuit diagram used inconnection with the terminal station shown in FIG. 4;

FIG. 6 shows a longitudinal perspective. explanation of the inventiveconcept;

FIG. 7 is a perspective view providing details of the. apparatus shownin FIG. 6;

FIG. 8 is a schematic explanationof one of the components useful withthe apparatus shown in FIGS. 6 and 7;

. FIG. 9 is a schematic explanation of another of the com- DETAILEDDESCRIPTION Broad Outline of the System As-hereinbefore pointed out, itis-necessary to provide for an automatic and continuous centrifugingoperation which will provide each separate sample with the required workperiod without stopping between operations and furthermore provide asequential system so that one or many samples may be rapidly andsequentially loaded at one end of the apparatus and unloaded at theother.

A schematic and block diagram of the system is illustrated in FIG. Iwhich shows an apparatus 100 having a sequential input side 102 shown asa belt conveyor 104 with a holder 106 and with test tubes T on the belt.The belt is turned by a sprocket arrangement 108. The input side 102will carry a test tube T from a loading station to a first transferstation I12 which includes an arm 114 and engaging means I16. Theengaging means 116 will grasp the test tube T and remove the test tube.The arm 114 is responsive to turning means 118 which wild cause the arm114 to swing 180 over a centrifuge apparatus 120 and deposit the testtube T in a trunnion cup 122. Centrifuge apparatus 120 includes a rotor124 having the trunnion cups 122 disposed along the outer peripherythereof.

- The rotor is turned by a motor 126 the actions of which are in turncontrolled by a programmer 128 the function and description of whichwill be provided herein.

The test tubes T are sequentially loaded into the trunnion cups as therotor 124 slowly tumspast the first transfer station 112, untilthey'completely till the rotor outer periphery. As the last test tubetrunnion cup is loaded, this will trip the switch 130 and the motor 126will turn at a rapid rate for a predetermined time period. After this,the rotor 124 will stop and again start turning slowly while a secondtransfer station 132 opposite the first transfer station 112 takes upthe test tubes T sequentially. Second transfer station 132 is similar tofirst transfer station 112 and likewise has an arm 134 with engagingmeans 136 to grasp the test tube T from trunnion cups 122. The arm 134is turned by turning means 138, and will take the test tube T anddeposit it on belt conveyor 140 which is similar to belt conveyor 104.Belt conveyor 140 is on the output side 142 and likewise may include aholder 144 to hold the test tubes T, and likewise is run by a sprocketarrangement 146. The test tubes T are then carried to an unloadingstation where they are unloaded.

From the foregoing explanation it is apparent that the sample, e.g.,blood, is placed in a test tube T which is loaded at a loading stationon a conveyor belt 104 which will convey the test tube T to a firsttransfer station 112. The first transfer station 112 includes an arm 114and engaging means 116 which will grasp the test tube and place it ontoa centrifuge apparatus having a rotor 124 with trunnion cups 122. Thetest tubes will be loaded into the trunnion cups until the rotor iscompletely filled and at this time the last test tube will enable aswitch which will cause the wheel to spin rapidly for a predeterminedtime period. The rotor will then stop and the test tubes will then beunloaded at a second transfer station 132 similar to the first transferstation. The test tubes are placed on a second conveyor belt and carriedto an un- The transfer device for transferring the test tubes betweenthe trunnion cups and the belt conveyor, is shownin FIG. 4. The testtubes are carried along the belt conveyor in holders 144 permanentlyattached to the conveyor belt.

A device with elements similar to those shown in FIG. 4 has beendescribed in the Samuel Natelson U.S. Pat. No. 3,331,665. Only onetransfer device is shown in FIG. 4. However, two similar devices areused, one at each transfer station as shown in FIG. I, one for loadingand one for unloading test tubes between the centrifuge apparatus andthe conveyor belts.

A clamp 167 which resembles in appearance that of a spring clothes pinis mounted on a rod 167a which has a gear 172 thereon and rotates in acircle. A cam 169 operates by a cam motor 170 rotates to lift and lowerthe clamp rod and gear 172. This gear 172 is engaged by a driver gear174. Gear 172 is lka inch in thickness so that the rod can be liftedwithout disengaging from gear 174. Gear 174 is operated by a turn motor176. The clamp is 3 inches in length from jaw to axis so that it movesin a 6-inch circle. When clamp 167, in the elevated position, ispositioned over the test tube, turn motor 176 stops. A solenoid 179 withan armature 181 is activated and the clamp 167, now opened, is loweredover the neck 19 of the test tube T. The solenoid is deactivated and thecontainer is clamped. The cam now raises the rod so that the containerclears the holder 144. Turn motor 176 is reactivated and the clampcontinues its rotation. The test tube T moves to a position over thetrunnion cup 122. The cam lowers the test tube into the trunnion cup.The solenoid is activated releasing the test tube and the cam raises theclamp. Turn motor 176 is reactivated and the cycle is repeated. Duringthe clamp travel,

a motor 185 is activated and belt moves to position a secondtest tubefor loading. At the same time, indexing motor 510A (See FIG. 6) rotatesthe trunnion carrier and indexes to the next position by means of theGeneva movement 5108.

The positioning of the clamp above the centrifuge holder and belt holderis controlled by the timer arrangement 190 shown in FIG. 5. Referring toFIG. 5, movement of the clamp of FIG. 4 between light 192 and aphotocell 194 closes a photoswitch 196.

Shown in FIG. are the following circuits:

Circuit A across contact points a which runs timer motor Circuit Bacross contact points b which runs motors 176,

510A and 185.

Circuit T across a switch pin 202 responsive to the output shaft of thetimer motor as will be herein explained. Circuit T also makes motors176, 185 and 510A run.

Circuit PS enabled by closing photoswitch 196. This circuit will closerelay 198. Let us first take the situation where the photoswitch 196 isopen. Current goes across contact points b which are closed alongcircuit B and turns motors 176, 185, 510A. Contact points a are not incontact. Next, photoswitch 196 is closed. Current goes through thephotoswitch circuit. Relay I98 opens contact points b. The motors 176,185, 510A stop. Current now goes through contact points a which are incontact. Current flows to timer motor 200. The motor shaft starts torotate. At the end of the motor shaft is a flag 202A which will hit anormally open switch pin 202 at the end of its run.

Switch pin 202 is now closed by the flag 202A and current passes acrossthe switch pin in circuit T, so that current is again fed to motors 176,185, 510A. Thus, during the travel time of flag 202A, motor 176 does notrun. This is set at 8 seconds for the instrument shown. Turn motor 176,trunnion carrier indexing motor 510A, as well as the belt drive indexingmotor 185, are in parallel and when the flag 202A is traveling, allthese motors are stopped. Thus, clamp 167 lifts test tube T out oftrunnion cup 122 by the action of cam 169 and motor 170. It swings to aposition over holder 144 by the action of motor 176, and again by theaction of motor 170 and. cam 169, lowers the test tube into holder 144.

The action of motor 176 is controlled by photocell 194. When clamp 167passes between light 192 and photocell 194, the photocell switch 196closes. This stops motor 176 until restarted by flag 202 hitting switchpin 202A.

When turn motor 176 is activated the trunnion carrier indexing motor510A also is activated, as well as the indexing motor 185, of the beltdrive. In this way, while the clamp is rotating both the trunnioncarrier and belt drive carrying the test tubes are indexed to the nextposition. Motor 185, like 510A operates through a Geneva movement tomove one position at a time.

After the test tubes are loaded in all positions the Geneva drive isdisengaged from the main shaft of the trunnion carrier and motor 126centrifuges the test tubes at high speeds for a preset time and thenstops. At this point, the test tubes are unloaded in a manner similar tothat described for loading, to a second belt drive and from there to atest tube rack. Unloading directly to a second test tube rack is alsopractical.

The apparatus contemplated herein is shown in FIG. 6 with detailed viewsof components being shown in FIGS. 7, 8 and 9. The trunnion carrier 500carries the trunnion cups 122 which swivel in the hook of the trunnioncarrier so that the test tube T will be in a horizontal position whencentrifuging. The main centrifuge motor 126 is attached to the mainshaft 504 of the centrifuge through a magnetic clutch 505. The mainshaft is supported by roller bearing 502. When the magnetic clutch andthe main centrifuge motor are activated, the trunnion carrier willrotate, centrifuging the samples carried in the test tubes. This clutchis illustrated in Hg. 9 and comprises two shafts with electromagnetswhich come together when activated. The loading and unloading systemshave been described.

The trunnion carrier is indexed by the bevel gears 508 and 509 whichconnect the main shaft to a Geneva movement through a spring loadedmagnetic clutch 510 shown in FIG. 8. When the main motor magnetic clutchis deactivated, the main shaft is disconnected from the main motor. Atthat time the magnetic clutch attached to the Geneva movement isdeactivated, a spring 510C thrusting beveled gear 509 forward makescontact with syncronous bevel gear 508. The test tube T is picked up bythe loading clamp which rotates and deposits the test tube in trunnioncup 122. The Geneva movement indexes one position and the next test tubecoming from the loading belt drive is now placed in the next trunnioncup. This continues until all the trunnion cups have been filled withtest tubes. Movement of the last test tube into the position of thefirst test tube trips a switch 130, which stops the motion of theloading assembly. This same switch activates the magnetic clutch of theGeneva movement disconnecting the bevelled gears. The switch starts atiming motor of the type shown in FIG. 4 so that 8 seconds elapse.Contact is then made to deactivate the magnetic clutch 505 so thatcontact is made between main motor and the main shaft. At the same time,main motor 126 starts the rotation of the test tubes, so that the testtubes are centrifuged for a preset time, usually of the order of 5-20minutes. When the centrifuge time has elapsed, the timer 512,controlling the centrifuging time, cuts the power to centrifuge mainmotor 126, and permits the centrifuge to decelerate against theelectrical braking action of main motor 126. After 5 minutes the clutch505 is activated and the trunnion carrier continues to rotate at reducedspeed.

Braking electromagnet S13 is now activated. This acts on an Alnicomagnet 514 embedded in a cylinder attached to the main shaft. Thecarrier comes to rest with the Alnico magnet facing the braking magnet.The Alnico magnet is so placed that when the trunnion carrier stops, thefirst test tube is in position to be picked up by an unloading assembly.

The magnetic clutch S05 attached to Geneva movement, 510B, is nowinactivated releasing a spring and the unloading assembly and the Genevamovement is activated. The test tubs are now removed in the samesequence in which they were loaded. The unloaded test tubes are disposedalong a belt or transposed to a test tube rack which moves stepwise fromone end to the other and returns shifting one row as it comes to theend. This continues until all the test tubes have been unloaded.

At this point a second set of test tubes is loaded to fill thecentrifuge and repeat the cycle.

Loading may also proceed from a test tube rack, as pointed out above. Inthis case, as each tube is removed for loading, the rack moves over onespace. At the end of the row a shift laterally, to the next row, takesplace and the test tubes are removed from this second row. This proceedsuntil the trunnion carrier has been completely loaded. Such motions oftest tube racks are often used in collecting fractions from achromatography column and are known to the art.

As an alternative, the main motor 126, may be used to move the testtubes on the trunnion carrier during loading. In this case, a photocelland light assembly is used to position the trunnion cups sequentially inplace. However, it is preferable to use the Geneva movement, since withthe Geneva movement the trunnion carrier may be moved sequentially witha 50 inch pound shaded pole motor which carries less current inactivation and deactivation.

-The trunnion carrier shown is of the swinging bucket" type. An angleheadtrunnion carrier may be substituted. A convenient number of tubescarried is 30, although smaller or larger trunnion carriers areavailable commercially. Using 30 trunnion cups, the total time elapsedis usually minutes for loading, minutes for centrifuging, 5 minutes toslow down and 2 minutes to come to rest. Thus every 22 minutes a set of30 test tubes is centrifuged.

The overall operation of the instrument is summarized schematically inFIG. 10. The operator presses a bypass switch in order to activate thefirst belt conveyor 104. This causes the belt drive motor to turn untila test tube comes to a test tube switch position. This switch stops themotion of the first conveyor and causes the test tube to remain in thisposition. Arrival of the test tube at the test tube switch positionsignals the Geneva Movement and indexer 510A and 510B, to turn the rotorof the centrifuge apparatus 120, to the first position to accept thefirst test tube. Arrival of the trunnion carrier of the centrifugeapparatus to the first position trips a switch and starts the firsttransfer station 112.

The transfer mechanism shown in FIG. 4 will go through a cycle and stopif a short bypass signal is given. The transfer mechanism picks up thetest tube, transfers it to the first position in the centrifugeapparatus and continues to run until the pick up arm is halfway betweenthe feeder and the centrifuge. There it intercepts a first photoswitch196a (similar to that shown in FIG. 4), which causes it to stop andindex the first conveyor and centrifuge apparatus to each of their nextpositions. When the second test tube arrives at the photoswitch positionthe cycle is repeated. This continues until the trunnion carrier of thecentrifuge apparatus is fully loaded.

At this point a projection at the final positions of the centrifugerotor trips a switch which stops all mechanisms, disconnects indexersand starts the centrifuge programmer 128. This programmer 128 comprisesa timer motor 126 attached to a shaft on which is disposed a series ofcams. Each cam trips a switch at one point in its rotation. Thus, byadjusting the cams, a series of events can be programmed. One of thecams is the cycle carn. After a 360 rotation it trips a switch whichstops a timer motor itself ending the cycle. The program is reactivatedby providing a momentary bypass to cause this cam to move a shortdistance, thus releasing the stop switch. On rotation of 360 it willstop again.

The timer motor 126 of the centrifuge programmer 128 runs for a presettime (e.g., minutes) and then disconnects the current from thecentrifuge motor drive. The centrifuge now decelerates. The timer motorcontinues to run and at a preset time, (e.g., 3 minutes aftercentrifuging has stopped), activates the magnetic brake which causes thecentrifuge rotor to stop in an unload position. The centrifugeprogrammer disconnects clutch 505 and connects clutch 510 and thus theGeneva Movement. It then trips a switch which starts the second conveyor142, to index in order to bring a receiving cup into position. Thetiming mechanism then trips a switch which stops its own rotation ashereinbefore explained. Arrival'of the first receiving cup of the secondconveyor at its first receiving position delivers a bypass to secondtransfer mechanism at second transfer station 132, so that it may beginits cycle.

In a manner similar to that at the first conveyor loading station, thetransfer mechanism goes through its cycle picking up a test tube fromthe centrifuge trunnion carrier and transferring it to the secondconveyor, 142. Each time it completes a cycle it stops halfway in itsrotation between the centrifuge rotor and the unloader. There itintercepts the photoswitch, 196 shown in FIG. 4, which stops its motionand causes the second belt conveyor and centrifuge programmer to indexto the next position. When the centrifuge has been emptied of testtubes, a projection in the final position of the centrifuge trips aswitch which stops all activities. I

This instrument is similarly used in centrifuging the blood received inthe chemistry laboratory in the morning, where a large number of tubeswith blood are presented simultaneously. It is also useful in acompletely automated system of analysis. In this case the test tubescontaining the specimens are transfered to the centrifuge, centrifugedand unloaded on a belt drive. Subsequently, these test tubes can besampled for further processing.

What is claimed is:

1. An automated centrifuge system comprising in combination:

a. first conveyor means disposed to horizontally convey test tubes to afirst transfer station;

b. a first transfer station including transfer means thereat to grasptest tubes, remove them from the conveyor means and place them onanother work unit;

c. a circular trunnion carrier, adjacent said first transfer stationdisposed for rotation in the horizontal plane including motor means torotate said trunnion carrier;

(1. trunnion cups mounted on the outer end of said circular trunnioncarrier to receive said test tubes from said first transfer means;

e. a programmer including first rotating means coupled to said trunnioncarrier which will index the trunnion carrier so as to allow loading ofthe test tubes thereon, and then again index the trunnion carrier sothat the test tubes may be removed therefrom; second rotating meanscoupled to said trunnion carrier to rapidly turn the trunnion carrier tocentrifuge the contents of the test tubes and, timer means coupled tosaid second rotating means controlling the centrifuge time; a secondtransfer station adjacent said trunnion carrier angularly away from saidfirst transfer station including transfer means thereat to grasp testtubes and transfer them from the trunnion cups to second conveyor means;and, second conveyor means disposed to carry said test tubes away fromsaid trunnion carrier.

2. A system as claimed in claim 1 in which said second rotating meansincludes a main shaft connected to said trunnion carrier and a mainmotor connected to said main shaft for rapidly turning said trunnioncarrier and a main motor clutch disposed in said main shaft for engagingand disengaging said main motor to said trunnion carrier, and in whichsaid first rotating means includes a driven means on said main shaftintermediate said main motor clutch and said trunnion carrier and aGeneva drive arrangement for driving said driven means including a motorand clutch disposed for coupling to said driven means for slowly turningsaid main shaft, and trip switch means connected to said main motor,said Geneva drive arrangement turning said trunnion carrier until a testtube trips said trip switch at which time the Geneva clutch disengagesand the main motor clutch engages the main motor with the trunnioncarrier for a predetermined time period.

1. An automated centrifuge system comprising in combination: a. firstconveyor means disposed to horizontally convey test tubes to a firsttransfer station; b. a first transfer station including transfer meansthereat to grasp test tubes, remove them from the conveyor means andplace them on another work unit; c. a circular trunnion carrier,adjacent said first transfer station disposed for rotation in thehorizontal plane including motor means to rotate said trunnion carrier;d. trunnion cups mounted on the outer end of said circular trunnioncarrier to receive said test tubes from said first transfer means; e. aprogrammer including first rotating means coupled to said trunnioncarrier which will index the trunnion carrier so as to allow loading ofthe test tubes thereon, and then again index the trunnion carrier sothat the test tubes may be removed therefrom; second rotating meanscoupled to said trunnion carrier to rapidly turn the trunnion carrier tocentrifuge the contents of the test tubes and, timer means coupled tosaid second rotating means controlling the centrifuge time; f. a secondtransfer station adjacent said trunnion carrier angularly away from saidfirst transfer station including transfer means thereat to grasp testtubes and transfer them from the trunnion cups to second conveyor means;and, second conveyor means disposed to carry said test tubes away fromsaid trunnion carrier.
 2. A system as claimed in claim 1 in which saidsecond rotating means includes a main shaft connected to said trunnioncarrier and a main motor connected to said main shaft for rapidlyturning said trunnion carrier and a main motor clutch disposed in saidmain shaft for engaging and disengaging said main motor to said trunnioncarrier, and in which said first rotating means includes a driven meanson said main shaft intermediate said main motor clutch and said trunnioncarrier and a Geneva drive arrangement for driving said driven meansincluding a motor and clutch disposed for coupling to said driven meansfor slowly turning said main shaft, and trip switch means connected tosaid main motor, said Geneva drive arrangement turning said trunnioncarrier until a test tube trips said trip switch at which time theGeneva clutch disengages and the main motor clutch engages the mainmotor with the trunnion carrier for a predetermined time period.